Initial commit

.github/workflows/build_cyphal.yml

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+name: build_cyphal
+on: [push]
+jobs:
+  build_cyphal:
+    runs-on: ubuntu-22.04
+    timeout-minutes: 10
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          submodules: recursive
+          fetch-depth: 0
+
+      - name: Install dependencies
+        run: ./scripts/tools/install_for_ubuntu.sh --yes
+
+      - run: make generate_dsdl
+      - run: make cyphal
+
+      - name: Archive .bin file
+        uses: actions/upload-artifact@v3
+        with:
+          name: cyphal_firmware.bin
+          path: build/obj/example.bin
+
+      - name: Archive .elf file
+        uses: actions/upload-artifact@v3
+        with:
+          name: cyphal_firmware.elf
+          path: build/obj/example.elf

.github/workflows/build_dronecan.yml

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+name: build_dronecan
+on: [push]
+jobs:
+  build_dronecan:
+    runs-on: ubuntu-22.04
+    timeout-minutes: 10
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          token: ${{ secrets.ACCESS_TOKEN }}
+          submodules: recursive
+          fetch-depth: 0
+
+      - uses: actions/checkout@v3
+        with:
+          repository: RaccoonlabDev/libsqcan
+          path: 'Libs/libsqcan'
+          token: ${{ secrets.ACCESS_TOKEN }}
+          fetch-depth: 0
+
+      - name: Checkout libsqcan
+        run: cd Libs/libsqcan && git checkout dd10256
+
+      - name: Install dependencies
+        run: ./scripts/tools/install_for_ubuntu.sh --yes
+
+      - run: make dronecan

.gitignore

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+build/
+build_dsdl/
+.vscode/

.gitmodules

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+[submodule "Libs/Cyphal"]
+	path = Libs/Cyphal
+	url = [email protected]:RaccoonlabDev/libcanard_stm32_cyphal.git
+[submodule "Libs/libparams"]
+	path = Libs/libparams
+	url = [email protected]:PonomarevDA/libparams.git
+[submodule "scripts/tools"]
+	path = scripts/tools
+	url = [email protected]:PonomarevDA/tools.git
+[submodule "Libs/stm32-cube-project"]
+	path = Libs/stm32-cube-project
+	url = https://github.com/RaccoonLabHardware/mini-v2-software.git

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.15.3)
+project(example CXX C ASM)
+
+if(NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE Release)
+endif()
+
+set(PLATFORM bxcan)
+set(libparamsPath ${CMAKE_CURRENT_LIST_DIR}/Libs/libparams)
+set(stm32cubeMxProjectPath ${CMAKE_CURRENT_LIST_DIR}/Libs/stm32-cube-project)
+
+if(USE_DRONECAN)
+    include(Libs/libsqcan/CMakeLists.txt)
+    set(libsSourceCode
+        ${libparamsPath}/libparams/rom.c
+        ${libparamsPath}/libparams/storage.c
+        ${libparamsPath}/platform_specific/stm32f103/flash_driver.c
+        ${dronecanSources}
+    )
+    set(libsHeaders
+        ${libparamsPath}/libparams/
+        ${libparamsPath}/platform_specific/stm32f103/
+        ${dronecanHeaders}
+    )
+    include(Src/dronecan_application/CMakeLists.txt)
+else()
+    add_definitions(-DBXCAN_MAX_IFACE_INDEX=0)
+    include(Libs/Cyphal/CMakeLists.txt)
+    set(libsSourceCode ${CYPHAL_SRC})
+    set(libsHeaders
+        Libs/Cyphal/Cyphal
+        Libs/Cyphal/Libs/libcanard/libcanard
+        ${libparamsPath}/libparams
+        Libs/Cyphal/Libs/o1heap/o1heap
+        build/nunavut_out
+    )
+    set(cyphalRegisters ${CMAKE_CURRENT_LIST_DIR}/Libs/Cyphal/Cyphal/params.yaml)
+    include(Src/cyphal_application/CMakeLists.txt)
+    list(APPEND applicationSourceCode
+        build/src/params.cpp
+        build/src/string_params.cpp
+    )
+endif()
+
+
+set(TOOLCHAIN_PREFIX arm-none-eabi-)
+set(CMAKE_C_COMPILER ${TOOLCHAIN_PREFIX}gcc)
+set(CMAKE_ASM_COMPILER ${CMAKE_C_COMPILER})
+set(CMAKE_CXX_COMPILER ${TOOLCHAIN_PREFIX}g++)
+set(CMAKE_CXX_STANDARD 20)
+
+FILE(GLOB coreSources       ${stm32cubeMxProjectPath}/Core/Src/*)
+FILE(GLOB driversSources    ${stm32cubeMxProjectPath}/Drivers/STM32F1xx_HAL_Driver/Src/*.c*)
+
+set(gitRelatedHeaders
+    build/src
+)
+
+set(stm32CubeMxGeneratedFiles
+    ${coreSources}
+    ${driversSources}
+    ${stm32cubeMxProjectPath}/startup_stm32f103xb.s
+)
+set(stm32CubeMxHeaders
+    ${stm32cubeMxProjectPath}/Core/Inc
+    ${stm32cubeMxProjectPath}/Drivers/CMSIS/Device/ST/STM32F1xx/Include
+    ${stm32cubeMxProjectPath}/Drivers/CMSIS/Include
+    ${stm32cubeMxProjectPath}/Drivers/STM32F1xx_HAL_Driver/Inc
+    ${stm32cubeMxProjectPath}/Drivers/STM32F1xx_HAL_Driver/Inc/Legacy
+)
+
+set(EXECUTABLE ${PROJECT_NAME}.out)
+add_executable(${EXECUTABLE}
+    ${libparams}
+    ${stm32CubeMxGeneratedFiles}
+    ${libsSourceCode}
+    ${applicationSourceCode}
+)
+target_compile_definitions(${EXECUTABLE} PRIVATE
+    -DUSE_HAL_DRIVER
+    -DSTM32F103xB
+)
+
+include_directories(${libsHeaders})
+
+target_include_directories(${EXECUTABLE} PRIVATE
+    ${gitRelatedHeaders}
+    ${stm32CubeMxHeaders}
+    ${applicationHeaders}
+)
+
+SET(CMAKE_CXX_FLAGS  "${CMAKE_CXX_FLAGS} -Wno-volatile")
+
+target_compile_options(${EXECUTABLE} PRIVATE
+    -mcpu=cortex-m3
+    -mthumb
+    -fdata-sections
+    -ffunction-sections
+    -lc -lm -lnosys
+    -specs=nano.specs
+    -Wall
+    --specs=nosys.specs
+)
+
+target_link_options(${EXECUTABLE} PRIVATE
+    -T${stm32cubeMxProjectPath}/STM32F103T8Ux_FLASH.ld
+    -mcpu=cortex-m3
+    -mthumb
+    --specs=nosys.specs
+    -specs=nano.specs
+    -lc
+    -lm
+    -lnosys
+    -Wl,-Map=${PROJECT_NAME}.map,--cref
+    -Wl,--gc-sections
+)
+
+if(NOT USE_DRONECAN)
+    execute_process(
+        COMMAND ${CMAKE_CURRENT_LIST_DIR}/scripts/prebuild_cyphal.sh ${cyphalRegisters}
+    )
+endif()
+
+add_custom_command(TARGET ${EXECUTABLE}
+    POST_BUILD
+    COMMAND arm-none-eabi-size ${EXECUTABLE}
+)
+
+add_custom_command(TARGET ${EXECUTABLE}
+    POST_BUILD
+    COMMAND arm-none-eabi-objcopy -O ihex ${EXECUTABLE} ${PROJECT_NAME}.hex
+    COMMAND arm-none-eabi-objcopy -O binary ${EXECUTABLE} ${PROJECT_NAME}.bin
+    COMMAND arm-none-eabi-objcopy -I binary -O elf32-little ${EXECUTABLE} ${PROJECT_NAME}.elf
+)